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Model Predictive Control 1

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Model Predictive Control2 :Model Predictive ControlE.F. Camacho & C. Bordons 2004 :Model Predictive Control System Design and Implementation Using MATLABLiuping Wang 2009Predictive Control with Constraints, J. M. Maciejowsk, Prentice Hall, 2002.Model Predictive Control: Apratical approach, Rossiter, 2003.Internal model control: a comprehensive viewDaniel E. Rivera, 1999Nonlinear, Model Predictive Control, F. Allgower, Alex Zheng, 2000.Model Predictive Control3:

: 7 5 ( 92/12/5) : 8 CHAPTER 1:Introduction to Model Predictive Control 4Introduction to Model Predictive Control 70 First industrial developments: About 1970. Shell Texas: Cutler et al. (Proc. JACC 1980) Adersa France: Richalet. (Automatica 1978)Patents: Martin-Sanchez (Spain), 1976. Prett, Ramaker, Cutler (Shell), 1982.Academics: Propoi (1963) Kleinman (1970) Kwon and Pearson (1975) Rouhani and Mehra (1982) Clarke et al (1987)56Papers:MorariBalakrishnanKhotareBemporadRiveraGarciaIntroduction to Model Predictive ControlIntroduction to Model Predictive Control : .

( ) (Receding) ( )

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Introduction to Model Predictive Control8 MPC

MPC ( ) ()

Introduction to Model Predictive Control 9

Introduction to Model Predictive Control10

Introduction to Model Predictive Control11

Introduction to Model Predictive Control MPC: MIMO . . ( ) ()

12Introduction to Model Predictive Control MPC MPC ( ) MPC

131.1 MPC Strategy141.1 MPC Strategy MPC15

1.1 MPC Strategy16)N: y(t+k|t) k=1N : u(t+k|t) k=0N-1) ( w(t+k)) ( ) u :

1.1 MPC Strategy17) u(t|t) t+1 y(t+1) ( )

: u(t+1|t) u(t+1|t+1) . t+1 u(t+1|t+1)

1.1 MPC Strategy MPC

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u(t|t)1.1 MPC Strategy : ( Truncated Impulse Response Model ) ( ) (MIMO )Optimizer:

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1.1 MPC Strategy MPC ( ) ( ) !

201.1 MPC Strategy PID: PID PID MPC PID setpoint ( MPC)211.1 PID StrategyPID: 80%

: P P :

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1.1 PID Strategy23

IIII1.1 PID Strategy24D: ( 1)

I: ( )P: ( )

PID ( MPC)LTI PIDPID NMP undershoot ( ) MIMO ...

1.1 MPC Strategy25

1.1 MPC Strategy26

Controller Concepts27